VR motion base control apparatus and it&#39;s supporting structure

ABSTRACT

In a VR motion producing apparatus and an apparatus, comprising: a reception unit for receiving a presently projected picture frame No. from a picture apparatus; a detection unit for detecting a frame No. of operation data of a motion base presently executed by a motion base; a difference unit for comparing the picture frame No. with the motion frame No. to calculate a difference between them; a calculation unit for calculating an operation velocity of a motion base so as to correct this difference value; and a synchronization unit for reducing the difference between the picture frame No. and the motion frame No. for operating the motion base from the calculated velocity, a simulation rider transporting apparatus is featured by that an object to be controlled is a dynamic object; a motion model conversion unit is an apparatus for converting a motion model of a dynamic object to be controlled into a motion model of a motion base having a finite stroke, and furthermore contains two crank arms whose one ends are coupled to an elevation unit, a motor equal to a drive unit for changing an angle “X” between the two crank arms into a preselected value to hold this changed angle, and a speed reducing machine; and a crank rod is coupled to a rider containing base while having a rotation free degree along 3 axial directions.

BACKGROUND OF THE INVENTION

[0001] The present invention is related to a control by asynchronization system between a picture and a motion base in asimulation ride system for moving the motion base in connection with thepicture.

[0002] Also, the present invention is related to a VR (virtual reality)motion producing apparatus, and more specifically, a motion dataproducing system of a motion base in a simulation ride system for movinga motion base in connection with a CG (computer graphics) picture.

[0003] Furthermore, the present invention is related to a simulationrider transporting apparatus, and more specifically, to a simulationrider transporting apparatus containing a means for constraining anattitude and a position of a rider, e.g., a seat and an arm; a carriagefor mounting this constraining means; a means for constraining that thiscarriage is transportable; and an actuator.

[0004] Conventionally, since a picture scenario is determined(non-interactive system), a synchronization between a picture and anoperation of a motion base is merely established only at a startingtime. Thereafter, a picture apparatus and a motion base controlapparatus are independently controlled.

[0005] Also, conventionally, in a simulation ride system for operating amotion base in connection with a CG picture, for example, in a flightsimulator, in order to form motion (movement) of the motion base, namelymotion data, a person who are observing this CG picture directlyoperates this motion to instruct the movement (for example, a directinstruction while actually moving a motion base, this operation isinstructed; an off-line instruction such that while moving a model of amotion base, this operation is instructed; and an NC instruction suchthat while actually entering as numeral values velocities and positionalchanges in the respective axes of a motion base, this operation isinstructed).

[0006] These conventional instruction methods are directed to suchinstruction methods for mainly using the motion bases, which aresubstantially determined by human sensitivities. Therefore, experttechniques are necessarily required, and these conventional instructionmethods should required huge amounts of cost and very large numbers ofmanufacturing stages. On the other hand, while CG (computer graphics)techniques are progressed, pictures are also expressed by computergraphics. As a consequence, the scenario fixed systems are substitutedby such systems that scenarios are changed by events. In this scenariofixed system, operation patterns of dynamic objects to be controlled(air plane and vehicle etc.,) are previously defined, namely, thenon-interactive system. In the latter system, namely the interactivesystem, the operation patterns of the dynamic objects to be controlledare changed in response to handle operations. That is, the operationpatterns can be hardly predicted. In this latter-mentioned interactivesystem, since the operation patterns can be hardly predicted, there issuch a problem. That is to say, in the conventional system such that theoperation patterns have been defined as the initial condition, theoperations of the motion base cannot be instructed.

[0007] Furthermore, the conventional simulation rider transportingapparatus is comprised of: means for constraining an attitude of a riderand a position thereof such as a seat and an arm; a first base forriding thereon both the rider and said containing means; a second basearranged under said first base; and elevation means for elevating saidfirst base; a base; and a forward/backward transportable actuator. Then,as this elevation means, such an elevation device is known (seeJP-A-60-143379). This elevation device is located under the first base,the respective actuators are coupled to the first base at the maximumpoints thereof, and the first base is moved in the swing manner byexpanding/compressing the cylinder type rod.

[0008] In this conventional simulation rider transporting apparatus,since the base is moved in the swing manner by expanding/compressing thecylinder type rod, both the lengths of the actuators and the length ofthe rod become long. Therefore, there is such a problem that the heightof the simulation rider transporting apparatus is increased. Thus, sucha high simulation rider transporting apparatus can be hardly installedin the existing facilities.

[0009] Also, another conventional simulation rider transportingapparatus is known. That is as the elevation means, the cranks are used,end, the drive means is used so as to hold the angle between each of thecranks and the second base as a preselected value and the change thisvalue. However, since torque of the drive means is effected between thesecond base and the cranks, undesirable situations occur.

[0010] Moreover, as a means for constraining the first base and theattitude, the constraining mechanism is required in addition to theactuator. Thus, the apparatus becomes complex, which may cause anincrease of the weight thereof.

[0011] Also, there are since cases that although the picture issynchronized with the operation of the motion base at the starting timein the prior art, this synchronization is shifted due to differences inthe processing capabilities of the respective control apparatusesthereof.

[0012] If the picture is not synchronized with the operation of themotion base, then the motion data (operation) which is originallyproduced in connection with the picture would be executed when theoriginally set picture scene is displayed.

[0013] This situation may give unpleasant feelings to the persons whoride on the motion base. As a result, the concentration feelings to thepicture play world directed by the simulation ride system would be lost.

[0014] A subject to be solved by the present invention is to provide acorrection means effected in such a case that a synchronization betweena picture and operation of a motion base is shifted.

[0015] The present invention is equipped with the below-mentioned meansas a means for solving the above-explained subject without deterioratingconcentration feelings of a rider on a motion base with respect to apicture.

[0016] (1) A correction means fitted to a picture is provided on thebasis of a picture.

[0017] (2) A means for using/correcting a frame No. of a picture synccommand every frame during which a picture can be outputted is provided.

[0018] (3) As the correcting method, the following means are provided:

[0019] * A means for comparing a frame No. present in a picture synccommand (frame presently displayed by picture apparatus) with a frameNo. indicative of motion data executed by a motion base, for calculatinga correction velocity from a difference component to change an operationvelocity of the motion base, and thereby for synchronizing the motiondata with the picture.

[0020] * A correcting method effected when the frame No. is used is sucha means that the motion data is changed into motion data of the relevantframe No. based upon the frame No. of the picture which is outputtedfrom the picture apparatus and is presently imaged, and subsequently,the motion data arranged in a sequential manner are executed so as tosynchronize the picture with the operation of the motion base.

[0021] Even when the synchronization established between the picture andthe operation of the motion base is shifted, the motion base controlapparatus having the means for solving the above-described problem canmaintain the synchronization between the picture and the operation ofthe motion base without correcting the picture (when the picture iscorrected, the frame will drop).

[0022] Also, another object of the present invention is to provide a VRmotion producing apparatus capable of producing motion base operationdata from CG data, capable of producing operation data of a motion baseeven in an interactive system that an operation pattern cannot bepreviously predicted, and also capable of being widely applied tovarious motion bases.

[0023] The present invention is to provide a VR motion producingapparatus comprising motion model converting means for converting amotion model of an object to be controlled which is moved within avirtual reality space constituted by computer graphics into anothermotion model of a motion base having a finite stroke, wherein: theobject to be controlled is a dynamic object; and the motion modelconverting means converts the motion model of the dynamic object to becontrolled into the motion model of the motion base having the finitestroke.

[0024] The present invention is to provide a VR motion producingapparatus wherein: the motion model converting means converts coordinatedata of the motion model of the dynamic object to be controlled intocoordinate data of the motion model of the motion base.

[0025] The present invention is to provide a VR motion producingapparatus wherein: the motion model converting means is conversion meansfor converting in a real time.

[0026] The present invention is to provide a VR motion producingapparatus wherein: the VR motion producing apparatus is used in asimulation ride system corresponding to an interactive system.

[0027] The present invention is to provide a VR motion producingapparatus wherein: the VR motion producing apparatus is comprised of:means for extracting coordinate data used to draw the motion model ofthe dynamic object to be controlled; means for calculating a velocitychange of the dynamic object to be controlled within the VR space fromthe extracted coordinate data; and means for calculating an attitudechange of the dynamic object to be controlled every time instant.

[0028] The present invention is to provide a VR motion producingapparatus wherein: the VR motion producing apparatus is comprised of:means for resolving the calculated velocity change into the respectiveaxial components of an object coordinate system fixed to a dynamic modelto be controlled so as to calculate a velocity change amount of each ofthe axes of the object coordinate system; and means for scaling thecalculated velocity change amount to convert the scaled velocity changeamount into a motion amount within a finite stroke of a motion basewhich is actually operated.

[0029] Furthermore, the present invention is to provide a VR motionproducing apparatus wherein: the VR motion producing apparatus iscomprised of: means for converting the calculated attitude change of thedynamic object to be controlled into a rotation amount of each of theaxes of the object coordinate system fixed to the dynamic object to becontrolled; and means for scaling the converted rotation amount toconvert the scaled rotation amount into a motion amount within a finitestoke of a motion base which is actually operated.

[0030] The present invention is to provide a VR motion producingapparatus wherein: the VR motion producing apparatus is comprised of:means for cutting a frequency component of data at a designatedfrequency with respect to operation data of the motion base calculatedby the operation model connecting means; and means capable of producingmotion data of a motion base, taking account of a mechanical mechanismof a motion base.

[0031] Furthermore, the present invention is to provide a simulationrider transporting apparatus capable of suppressing a height of thissimulation rider transporting apparatus to a low height.

[0032] The present invention is to provide a simulation ridertransporting apparatus comprising: means for constraining an attitude ofa rider and a position thereof such as a seat and an arm; a first basefor riding thereon both the rider and the containing means; a secondbase arranged under the first base; and elevation means for elevatingsaid first base, wherein: the elevation means owns two cranks which arearranged opposite to each other between the first base and the secondbase; the two cranks own crank arms whose one edge is coupled to thesecond base, and a crank rod for coupling the other edge of the crankarm to the first base; and the simulation rider transporting apparatusis comprised of drive means for changing a relative angle between thetwo crank arms into a predetermined value, and for holding the changedrelative angle.

[0033] The present invention is to provide a simulation ridertransporting apparatus wherein: coupling means having a rotation freedegree along three axial directions is arranged between the crank rodand the first base, and the drive means is a single motor.

[0034] The simulation rider transporting apparatus is further comprisedof: means for driving the second base along forward/backward direction.

[0035] Concretely speaking, the elevation means owns a rotation freedegree with respect to one axial direction which intersects at a rightangle a plane where the cranks are moved; and three sets of theelevation means are arranged on front center portion and both side ofrear portions concerned with the second base, and the three elevationmeans are disposed so that moving surfaces of each crank intersects atone point.

BRIEF DESCRIPTION OF THE DRAWINGS

[0036]FIG. 1 is a system structural diagram according to an embodimentof the present invention.

[0037]FIG. 2A and FIG. 2B are I/F command specification diagram betweena picture and a motion control apparatus in the embodiment of FIG. 1.

[0038]FIG. 3 is a diagram for showing an arrangement of the motioncontrol apparatus and a data flow thereof.

[0039]FIG. 4 is a diagram for representing a format of motion data.

[0040]FIG. 5A, FIG. 5B and FIG. 5C are explanatory diagrams forindicating a deviation of a picture from a motion control.

[0041]FIG. 6 is a flow chart of a speed correction function.

[0042]FIG. 7 is a flow chart of a frame correction mechanism.

[0043]FIG. 8 is a diagram for showing one structural example of asimulation ride system employed in a VR motion producing apparatusaccording to another embodiment of the present invention.

[0044]FIG. 9 is a diagram for showing an example of picture outputcoordinate data in the structural example of FIG. 8.

[0045]FIG. 10A and FIG. 10B are explanatory diagrams for explaining anexample of an output format of a picture system in the structuralexample of FIG. 8.

[0046]FIG. 11 is a diagram for showing an example of a motion executingmechanism on a motion base having a finite stroke in the structuralexample of FIG. 8.

[0047]FIG. 12A, FIG. 12B, and FIG. 12C are explanatory diagram forexplaining an example of reverse converting formulae in the motionexecuting mechanism.

[0048]FIG. 13 is an explanatory diagram for explaining an example of amodel execution flow.

[0049]FIG. 14 is a side view for showing a simulation rider transportingapparatus according to a further embodiment of the present invention.

[0050]FIG. 15 is a plan view for representing an arrangement of anelevation means of the simulation rider transporting means indicated inFIG. 14.

[0051]FIG. 16 is plan view for representing a construction of anelevation actuator of the simulation rider transporting apparatus shownin FIG. 14.

[0052]FIG. 17 is a front view for indicating the elevation actuatorshown in FIG. 16.

[0053]FIG. 18 is a side view for indicating the construction of theelevation actuator shown in FIG. 16.

[0054]FIG. 19 is an explanatory diagram for showing a coupling meansbetween the elevation actuator and the mounting base.

[0055]FIG. 20 is an explanatory diagram for explaining in detail thecoupling means between the elevation actuator and the mounting base.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] Referring now to FIG. 1, an embodiment of the present inventionwill be explained. FIG. 1 indicates a system arrangement for carryingout the present invention.

[0057] A picture apparatus uses a projector 12 from a picture controlapparatus 11 to display a picture on a screen 13.

[0058] A motion base 15 is controlled by a motion base control apparatus14. The motion base control apparatus 14 is connected to the picturecontrol apparatus 11 by a LAN 16, so that data can betransmitted/received between them.

[0059] When in response to a starting instruction, the picture apparatusoutputs picture data stored inside the picture control apparatus 11 tothe projector 12 every 1 frame, both a picture starting command 21 and apicture sync command 22 shown in FIG. 2A and FIG. 2B are transmittedfrom the picture control apparatus 11 to the LAN 16, and are received bythe motion control apparatus 14.

[0060] In FIG. 2A and FIG. 2B, the respective abbreviated words aregiven as follows:

[0061] MSGTYPE: message sort

[0062] DELSEG: reception segment (message buffer) deleting attribute

[0063] RSPQNo: message responding queue No.

[0064] CTYPE: message type

[0065] CFUNC: message function sort code

[0066] RTNC: return code

[0067] DTL: data length

[0068] DAT: data

[0069] The motion control apparatus 14 is so arranged that this motioncontrol apparatus 14 is separated into a man/machine controllerprocessor (MCP) 31 functioning as an I/F with respect to the LAN shownin FIG. 3, and also a realtime control processor (RCP) 32 forcontrolling a motion control in a realtime manner, and these processingsystems are coupled with each other by way of a DPRAM 34 equipped withan interrupt function.

[0070] First, when the picture starting command 21 transmitted from thepicture control apparatus 11 of FIG. 1 to the LAM 16 is received by aLAN control system 33 of the MCP 31, the LAN control system 33 writes acommand into an area of the DPRAM 34 so as to transfer the picturestarting command to the RCP 32, and issues an interrupt in order thatthe RCP 32 can recognize this picture starting command (process (1)).

[0071] When the interrupt is established in the RCP 32 at a process (2),a handler 40 of the RCP 32 is operated (process (3)), and data is passedvia the man/machine controller processor (process (4)) to an MCL control35 for controlling the motion (process (5)).

[0072] In the MCL control 35, a check is made as to whether or not themotion base is set under initiation available state. If the motion baseis set under initiation available state, an external clock process 36 isinitiated (process A) by which a trigger is applied so as to regularlyinitiate a time control 37 (servo control).

[0073] The external clock process 36 initiates the time control 37 everytime a time period of 1 frame (namely, time interval used to display 1frame by picture apparatus 1) (process B). The time control acquiresdata from a motion data file 38, which are arranged in the order of theframe number (process D). While using this data as an instruction value,the servo control is carried out (process E), so that operation of amotion base is realized.

[0074] During operation, motion data having a format of FIG. 4 for eachof frames is derived every an external clock time period, an instructionvalue is outputted to a servo (process E), and a feedback G is monitoredto operate so as to realize a control in connection with a picture. Inthis case, symbol “Unsigned Char” is 1-byte data without code, symbol“Unsigned Short” shows 2-byte data without code, and symbol “Long”represents double precision floating decimal point data.

[0075] However, this process operation would cause a difference withrespect to the motion control apparatus for originally controlling theframe display period as a constant frame display period, since thisframe display period of the picture apparatus.

[0076] When this condition is explained with reference to FIG. 5A, FIG.5B, FIG. 5C, under picture control, a picture originally drops in aframe N+1 (FIG. 5B). In synchronism with this picture drop, the motionbase must carry out operation of the drop condition 51. However, whenthe synchronization is shifted, or deviated (in FIG. 5B, motion base isdelayed), operation of the horizontal operation 52 is carried out.

[0077] When this delay happens to occur, the picture cannot besynchronized with the operation of the motion base, so that thiscondition would give unpleasant feelings to a person riding on themotion base, and also would deprive concentration feelings to thepicture.

[0078] As a consequence, in accordance with the present invention, sucha system can be realized that the operation of the motion base iscorrected, and even when the frames of the picture apparatus arefluctuated, the operation of the motion base can be synchronized withthe picture by the correction.

[0079] First, a frame No. present in a picture sync command (namely,frame presently displayed by picture apparatus) is compared with anotherframe No. indicative of motion data executed by the motion base, acorrection velocity is calculated from a difference between them, andthe operation velocity of the motion base is changed, so that the motiondata can be synchronized with the picture.

[0080]FIG. 6 indicates a flow chart of this process operation.

[0081] The motion control apparatus 14 transfers the picture synccommand up to the MCL control 35 shown in FIG. 3 similar to the picturestarting command. In the MCL control 35, a frame No. (Fe No., numeral 24of FIG. 2) is derived from the picture sync command (step 61). At thesame time, another frame No. (Fm No., numeral 41 of FIG. 4) is derivedfrom the motion data under execution by the time control 37 (step 62).While comparing these two frames with each other (step 63), when thecomparison result is the same, it can be judged that the synchronizationis established, and then no correction control is carried out. When thecomparison result at the step 63 becomes different, a correctionvelocity “DV” is calculated in accordance with formula(1) (step 64).

[0082] A calculation method of the correction velocity “ΔV”:

ΔV=Vn−(ΔL/(T+ΔT))  (1)

[0083] Vn: move velocity up to target position

[0084] T: reach time up to target position

[0085] ΔL: move distance from present position up to target position

[0086] ΔT: sync shift time calculated from difference in frame numbers

[0087] ΔT=(FeNo.−FmNo.)*S

[0088] FeNo. : frame No. of picture sync command

[0089] FmNo. : execution frame No. of motion control apparatus

[0090] S: 1 frame time period

[0091] Then, a large/small relationship between the frame Nos iscompared (step 65). When the frame No of the picture sync command islarge, it is so judged that the picture is advanced. In order toincrease the operation velocity of the motion base, the correctionvelocity calculated based on the formula(1) is added to the originaloperation velocity (step 66).

[0092] When the reverse relationship is established, it is so judgedthat the picture is delayed (step 65). In order to delay the operationvelocity, the calculated correction velocity is subtracted (step 67). Asa result of this process operation, the velocity can be corrected.

[0093] Next, a description will now be made of the frame correction withreference to FIG. 7. FIG. 8 is a diagram for showing one structuralexample of a simulation ride system employed in a VR motion producingapparatus according to another embodiment of the present invention. FIG.9 is a diagram for showing an example of picture output coordinate datain the structural example of FIG. 8. FIG. 10A and FIG. 10B areexplanatory diagrams for explaining an example of an output format of apicture system in the structural example of FIG. 8. FIG. 11 is a diagramfor showing an example of a motion executing mechanism on a motion basehaving a finite stroke in the structural example of FIG. 8. FIG. 12A,FIG. 12B, and FIG. 12C are explanatory diagram for explaining an exampleof reverse converting formulae in the motion executing mechanism. FIG.13 is an explanatory diagram for explaining an example of a modelexecution flow.

[0094] As represented in FIG. 8, one example of an arrangement of asimulation ride system with employment of the VR motion producingapparatus according to this embodiment, is arranged by a picture controlapparatus 11, a projector 12, a screen 13, a motion base controlapparatus 14, a motion base 15, and a LAN 16, and also an inputapparatus 17 equipped with an handle.

[0095] The picture control apparatus 11 stores data picture (picturemade by CG) in a system where a scenario is changed by an event (namely,a system such that an operation pattern of a dynamic object to becontrolled is changed by manipulating a handle provided on the inputapparatus 17, i.e., an interactive system such that an operation patterncan be hardly predicted). The projector 12 receives the data picturefrom the picture control apparatus 11 and then projects the picture ontothe screen 13.

[0096] The motion base control apparatus 14 controls the operation andthe like of the motion base 15. The motion base 15 causes a person toride thereon. The CAN 16 connects the motion base control apparatus 14to the picture control apparatus 11, so that the data can betransmitted/received. The input apparatus 17 is manipulated by theperson who rides on the motion base. As a result, the data picture isprojected from the picture control apparatus 11 onto the screen 13 byusing the projector 12. In the case that the person who rides on themotion base 15 manipulates the input apparatus 17 in accordance with acontent projected on the screen 13, the person can own the interactivecharacteristic.

[0097] When the picture control apparatus 11 starts to project thepicture, in order to draw a dynamic object to be controlled (namely,when the person who rides the motion base 15 rides on this object, thisperson becomes a content as an assumption) within a VR space, thepicture control apparatus 11 controls attitude/position data on this VRspace to draw the object to be controlled on the VR space. An example ofcoordinate data 93 oi at this time is shown in FIG. 9. The picturecontrol apparatus 11 produces in a time sequential manner (time instant“i” 91, time instant i+1, 92), coordinate data (attitude and position)of a VR coordinate system Σvr indicated in FIG. 9. This data is derivedin the time sequential manner, this derived data is converted into VRspace coordinate data 31, and then the VR space coordinate data isoutputted from the picture control apparatus 11 to the LAN 16. Asindicated in FIG. 10A, the VR space coordinate data 31 is constituted bya picture time period and VR coordinate data. Then, as represented inFIG. 10B, the VR coordinate data is arranged by attitude data (Nvx, Nvy,Nvz, Avx, Avy, Avz) and positional data (Pvx, Pvy, Pvz). The VR spacecoordinate data 31 is outputted to the LAN 16, and is received by themotion control apparatus 14.

[0098] The motion control apparatus 14 owns the above-explainedarrangement of FIG. 3.

[0099] First, when the VR space coordinate data is received by a LANcontrol system 33 of the MCP 31, the LAN control system 33 writes acommand into an area of the DPRAM 34 so as to pass to the RCP 32 (1),and issues an interrupt which can be recognized by the RCP 32. When theinterrupt is made in the RCP 32, the handler 40 of the RCP 3 is operated(2), the data is transferred to the MCL control 35 for controlling themotion. The MCL control 35 judges as to whether or not the motion baseis set under initiatable state. If the motion base is brought into suchan initiatable state, then an external clock process 36 is initiatedwhich may apply such a trigger used to regularly initiate the timecontrol 37 (servo control). (A) The external clock process 36 initiatesthe time control 37 every time period of 1 frame (namely, time intervalduring which the video control apparatus displays 1 frame), and executesthe following control, so that the operation of the motion base in sucha manner that motion data of a motion base having a mechanism modelshown in FIG. 11 as one example the VR space coordinate data isproduced, and this produced motion data is operated as an instructionvalue.

[0100] In the time control 37, both the VR space coordinate data 21 and22 at a time instant “i” and another time instant “i+1” are acquired. Atthis time, the data may be defined as follows:

[0101] Σvr: VR space coordinate system (word coordinate system),

[0102] Σoi: dynamic object (to be controlled) coordinate system (timeinstant “i”),

[0103] Pvi=(Pvxi, Pvyi, Pvzi): origin positional data vector (timeinstant “i”) of object (to be controlled) coordinate system,

[0104] Avi=(Avxi, Avyi, Avzi): advance direction vector (time instant“i”) of object (to be controlled) object coordinate,

[0105] Nvi=(Nvxi, Nvyi, Nvzi): normal direction vector (time instant“i”) of object (to be controlled) object coordinate.

[0106] It should be noted that the X axis of Σoi is made coincident withNvi, and the Z axis of Σoi is made coincident with Avi.

[0107] When the above-described origin positional data vector Pvi of thedynamic object (to be controlled) object coordinate system is used, thevelocity vector Vi can be calculated based on formula (2):$\begin{matrix}{{\overset{\rightarrow}{V}}_{i} = \frac{{{\overset{\rightarrow}{P}}_{i + 1} - {\overset{\rightarrow}{P}}_{i}}}{\left( {i + 1} \right) - i}} & (2)\end{matrix}$

[0108] Also, a simultaneous transformation matrix “Ai” of the object (tobe controlled) coordinate system Σoi at the time instant “i” is given byformula (3): $\begin{matrix}{A_{i} = {\begin{matrix}{\overset{\rightarrow}{N}}_{vi} & {{\overset{\rightarrow}{N}}_{vi} \times {\overset{\rightarrow}{A}}_{vi}} & {\overset{\rightarrow}{A}}_{vi} & {\overset{\rightarrow}{P}}_{vi} \\0 & 0 & 0 & 1\end{matrix}}} & (3)\end{matrix}$

[0109] Then, assuming now that a simultaneous transformation matrix fromthe object (to be controlled) coordinate system Σoi at the time instant“i” to the coordinate system Σoi+1 at the time instant “i+1”, thefollowing formula (4) is established: $\begin{matrix}\begin{matrix}{A_{i + 1} = {A_{i} \times B_{i + 1}}} \\{{\therefore B_{i + 1}} = {A_{i}^{-} \times A_{i + 1}}} \\{= {\begin{matrix}N_{{vxi} + 1} & O_{{vxi} + 1} & A_{{vxi} + 1} & P_{{vxi} + 1} \\N_{{vyi} + 1} & O_{{vyi} + 1} & A_{{vyi} + 1} & P_{{vyi} + 1} \\N_{{vzi} + 1} & O_{{vzi} + 1} & A_{{vzi} + 1} & P_{{vzi} + 1} \\0 & 0 & 0 & 1\end{matrix}}}\end{matrix} & (4)\end{matrix}$

[0110] It should also be noted that symbol Ai^(—)is an inverse matrix ofAi, and symbol ovi (Ovxi, Ovyi, Ovzi) indicates an oriental vector, isequal to Nvi×Avi (outer product vector).

[0111] Next, a conversion formula from (Nvi+1, Ovi+1, Avi+1) to attitudedata of an object to be controlled is described as the following formula(5), the attitude data are expressed by roll (rot (Z, RRvi+1)), pitch(rot (Y, PPvi+1)), and yaw (rot(X, YYvi+1)): $\begin{matrix}{{\begin{matrix}{\overset{\rightarrow}{N}}_{{vi} + 1} & {\overset{\rightarrow}{O}}_{{vi} + 1} & {\overset{\rightarrow}{A}}_{{vi} + 1} & \overset{\rightarrow}{O} \\0 & 0 & 0 & 1\end{matrix}} = {{\begin{matrix}{Crr} & {- {Srr}} & 0 & 0 \\{Srr} & {Crr} & 0 & 0 \\0 & 0 & 1 & 0 \\0 & 0 & 0 & 1\end{matrix}}{\begin{matrix}{Cpp} & 0 & {Spp} & 0 \\0 & 1 & 0 & 0 \\{- {Spp}} & 0 & {Cpp} & 0 \\0 & 0 & 0 & 1\end{matrix}}{\begin{matrix}1 & 0 & 0 & 0 \\0 & {Cyy} & {- {Syy}} & 0 \\0 & {Syy} & {Cyy} & 0 \\0 & 0 & 0 & 1\end{matrix}}}} & (5)\end{matrix}$

[0112] note=Crr=Crr=cos(RRvi+1), Srr=sin(RRvi+1)

[0113] Cpp=cos(PPvi+1), Spp=sin(PPvi+1)

[0114] Cyy=cos(YYvi+1), Syy=sin(YYvi+1)

[0115] Now, when rot (Z, RRvi+1)^(—)is multiplexed by both hands fromthe left direction, the below-mentioned formula (6) is obtained:$\begin{matrix}{{{\begin{matrix}{Crr} & {Srr} & 0 & 0 \\{- {Srr}} & {Crr} & 0 & 0 \\0 & 0 & 1 & 0 \\0 & 0 & 0 & 1\end{matrix}}{\begin{matrix}{{Nvxi} + 1} & {{Ovxi} + 1} & {{Avxi} + 1} & 0 \\{{Nvyi} + 1} & {{Ovyi} + 1} & {{Avyi} + 1} & 0 \\{{Nvzi} + 1} & {{Ovzi} + 1} & {{Avzi} + 1} & 0 \\0 & 0 & 0 & 1\end{matrix}}} = {\begin{matrix}{Cpp} & {{Spp} \times {Syy}} & {{Spp} \times {Cyy}} & 0 \\0 & {Cyy} & {- {Syy}} & 0 \\{- {Spp}} & {{Cpp} \times {Syy}} & {{Cpp} \times {Cyy}} & 0 \\0 & 0 & 0 & 1\end{matrix}}} & (6)\end{matrix}$

[0116] Based upon the above-explained formula, RRvi+1, PPvi+1, andYYvi+1 can be calculated:

[0117] −Srr*(Nvxi+1)+Crr*(Nvyi+1)=0

[0118] ∴Rrvi+1=tan⁻[(Nvyi+1)/(Nvxi+1)]

[0119] −Spp=Nvzi+1

[0120] Cpp=Crr*(Nvxi+1)+Srr*(Nvyi+1)

[0121] ∴PPvi+1=tan⁻[−(Nvzi+1)/((Crr*(Nvxi+1)+Srr*(Nvyi+1))]

[0122] −Syy=−Srr*(Avxi+1)+Crr*(Avyi+1)

[0123] Cyy=−Srr*(Ovxi+1)+Crr*(Ovyi+1)

[0124] ∴Yyvi+1=tan−[(−Srr*(Avxi+1)

[0125] +Crr*(Avyi+1))/(Srr*(Ovxi+1)

[0126] −Crr*(Ovyi+1))]

[0127] The position/attitude data which should be operated on the motionbase can be calculated based on the position/attitude data of thedynamic object (to be controlled) as previously explained. This can beexecuted only in such a case that the operation stroke is equivalent tothe dynamic object (to be controlled) within the VR space. In this case,in order to realize operation occurred on the motion base having thefinite stroke as indicated in FIG. 5 without having any sense ofincongruity, converted into motion data by using a motion model havingthe following converting method, so as to operate mechanism in FIG. 11concerned with each axis instruction data after converted, convertedinto a value of ball screw described by analysis chart as in FIGS. 12A,12B, 12C, and actual operation is realized by servo instruction of timecontrol 37 as shown in FIG. 3. As a basic idea of a motion model, avelocity feeling can be achieved only by using a visual feeling(picture), or a hearing feeling (sound), and a contact feeling (wind) onthe motion base having the finite stroke mechanism. As a consequence,such a model capable of increasing concentration feelings of the rideron the motion base is designed by utilizing both the acceleration effectand the gravity effect.

[0128] Referring now to the analysis diagram shown in FIG. 12A, FIG.12B, FIG. 12C, the inverse conversion formula will be explained. First,the conversion into the coordinate system of P1 (P1 being viewed fromseat coordinate) is given as follows, as represented in FIG. 12A,considering now projections of X-Y plane and Y-Z plane (note that thereis no adverse influence by Pitch):

[0129] X′=X+Ls*cosp

[0130] Z′=Z−Ls*sinp

[0131] r′=r (rotation centers of Roll and Pitch of a mechanism are “P1”due to arrangement of M2, M3)

[0132] p′=p (rotation centers of Roll and Pitch of a mechanism are “P1”due to arrangement of M2, M3)

[0133] Next, when L2 and L3 are analyzed, the inverse conversion formulacan be obtained as indicated in FIG. 12B.

[0134] Furthermore, when the projection of the X-Z plane is carried out,the inverse conversion formula can be obtained as shown in FIG. 12C. Asa result, L1, L2, L3, and L4 can be calculated as follows:

L2=SQR[(Lb(1−cosr)/sinα)²+(Z−Ls*sinp+Lb*sinr)²]

L3=SQR[(Lb(1−cosr)/sinα)²+(Z−Ls*sinp−Lb*sinr)²]

L1=SQR[((Lb(1−cosr)/sinα)cosα −La(1−cosp)²+(Z−Ls*sinp+La*sinp)²

L4=Lc−[X+Ls*cosp+(Lb(1−cosr)/sinα)cosα]

[0135] Next, a description will now be made of conversion models intoSurge operation. Heave operation, and Sway operation; a mechanismcorrection model (Sway correction, Surge correction); and a filteringcorrection model.

[0136] (1) Conversion model into Surge operation.

[0137] The surge operation corresponds to forward/backward operation ofa motion base. Since this motion may give acceleration feelings of amotion base rider along the forward/backward direction, an accelerationvelocity of an object to be controlled is calculated from thebelow-mentioned formula (7). Then in order to realize a finite stroke, ascaling of formula (8) is carried out, so that both an operation strokeand a velocity can be calculated;

Axi=d ²(|(Pxi+1)−Pxi|)/dt ²  (7)

ΔSxi=ΔSxi=(Lx/2)*(Axi/Axmax)  (8).

[0138] Note that when Axi>Axmax, it is set: Axi=Axmax.

Vxi=d(|(Pxi+1)−Pxi|)/dt

[0139] Axi : Surge axis acceleration velocity (time instant “i”) ofobject to be controlled on VR,

[0140] ΔSxi : Surge axis operation amount (time instant “i”),

[0141] Vxi : Surge axis transport velocity (time instant “i”),

[0142] Lx : Surge axis maximum operation stroke,

[0143] Axmax : Surge axis allowable maximum acceleration velocity,

[0144] Pxi : positional data (X component, time instant “i”) of objectto be controlled.

[0145] (2) Conversion model to Heave operation.

[0146] The Heave operation corresponds to upper/lower operations of amotion base. Since this motion may give acceleration feelings of amotion base rider along the upper/lower direction, an accelerationvelocity of an object to be controlled is calculated from thebelow-mentioned formula (9). Then, in order to realize a finite stroke ascaling of formula (10) is carried out, so that both an operation strokeand a velocity can be calculated:

Ayi=d ²(|(Pyi+1)−Pyi|)/dt ²  (9)

ΔSyi=(Ly/2)*(Ayi/Aymax)  (10)

[0147] Note that when Ayi>Aymax, it is set : Ayi= Aymax.

Vyi=d(|(Pyi+1)−Pyi|)/dt

[0148] Ayi : Heave axis acceleration velocity (time instant “i”) ofobject to be controlled on VR,

[0149] ΔSyi : Heave axis operation amount (time instant “i”),

[0150] Vyi : Heave axis transport velocity (time instant “i”),

[0151] Ly : Heave axis maximum operation stroke,

[0152] Aymax : Heave axis allowable maximum acceleration velocity,

[0153] Pyi : positional data (Y component, time instant “i”) of objectto be controlled.

[0154] (3) Conversion model into Sway operation.

[0155] The Sway operation corresponds to right/left operation of amotion base. Since this motion may give acceleration feelings of amotion base rider along the right/left direction, an accelerationvelocity of an object to be controlled is calculated from thebelow-mentioned formula (11). Then in order to realize a finite stroke,a scaling of formula (12) is carried out, so that both an operationstroke and a velocity can be calculated;

Azi=d ²(|(Pzi+1)−Pzi|)/dt²  (11)

ΔSzi=(Lz/2)*(Azi/Azmax)  (12).

[0156] Note that when Azi>Azmax, it is set: Azi=Azmax.

Vzi=d(|(Pzi+1)−Pzi|)/dt

[0157] Azi : Sway axis acceleration velocity (time instant “i”) ofobject to be controlled on VR,

[0158] ΔSzi : Sway axis operation amount (time instant “i”),

[0159] Vzi : Sway axis transport velocity (time instant “i”),

[0160] Lz : Sway axis maximum operation stroke,

[0161] Azmax : Sway axis allowable maximum acceleration velocity,

[0162] Pzi : positional data (Z component, time instant “i”) of objectto be controlled.

[0163] (4) Mechanism correction mode 1 (Sway correction).

[0164] There are some cases that the above-described conversion modelcould not be applied, depending upon mechanical mechanism. There isshown an example of a mechanical correction model used in this case.First, in such a case that the mechanism has no Sway axis operationmechanism, the Sway amount ΔYo is corrected to a rotation amount Ro of aRoll axis.

[0165] Assuming now that a position of a coordinate system is “P” and alength of the Roll axis defined from a rotation center up to P is “Lo”,

Yo=Lo*Ro.

[0166] As a consequence, a roll correction amount ΔRo is calculated fromformula (13), and then is added to the rotation amount Ro of the Rollaxis.

[0167]  ΔRo=ΔYO/Lo  (13)

[0168]

[0169] After all, the acceleration feelings along the right/leftdirection may be realized by increasing the rotation amount “Ro” of theRoll axis by ΔRo. It should be noted that when the length Lo isincreased, the roll correction amount ΔRo can be decreased.

[0170] (5) Mechanism correction mode 2 (Surge correction).

[0171] There are some cases that the above-described conversion modelcould not be applied, depending upon mechanical mechanism, which isshown an example of a mechanical correction model 2. In such a case thatthe mechanism has no Surge axis operation mechanism, the Surge amountΔXo is corrected to a rotation amount Po of a Pitch axis.

[0172] Assuming now that a position of a coordinate system is “P” and alength of the Pitch axis defined from a rotation center up to P is “Lo”,

Xo=Lo*Po.

[0173] As a consequence, a pitch correction amount ΔPo is calculatedfrom formula (14), and then is added to the rotation amount Po of thePitch axis.

ΔPo=ΔXo/Lo  (14)

[0174] After all, the acceleration feelings along the forward/backwarddirection may be realized by increasing the rotation amount “Po” of thePitch axis by ΔPo. It should be noted that when the length Lo isincreased, the pitch correction amount ΔPo can be decreased.

[0175] (6) Filtering correction model.

[0176] There are some cases that operations are excessively effectedwhen data from a picture is converted in accordance with theabove-explained model. In such a case, a low-pass filter model capableof smoothing the operation is prepared.

[0177] An example of the low-pass filter model employed in the presentmodel is described as follows: It should be noted that symbol “S”denotes a delay.

1+TL*S/(1+α*TL*S)  (15)

F(S)={(1+TL*S)/(1+αL*TL*S)}*

{(1+Tf*S)/(1+αf*Tf*S)}  (16)

[0178] Note that symbol “∝L” is a lead system when the followingcondition is given:

∝<1.0.

[0179] When this low-pass filter model is employed, a high frequencycomponent can be cut, and thus, the portion where the operations areexcessively performed can be out, so that the operations can besmoothed.

[0180] In FIG. 13, there is shown an example of a block diagram forexecuting the above-described model. This model is arranged by WorldCoordinates 131, Image Coordinates 132, Transformation into Worldcoordinates 133, Transformation into Motion-Base coordinate 134,Transformation of acceleration 135, Scaling Revision 136, Filter Control137, Transformation Servo Data 138, and Servo Control 139. Then, theImage Coordinates 132 first become the Transformation into Worldcoordinates 133, and then, become the Transformation into Motion-Basecoordinates 134 together with World Coordinates 131, and theTransformation of acceleration 135 is carried out and then becomes theScaling revision 136, furthermore becomes the Filter Control 137,becomes the Transformation Servo Data 138, and becomes the Servo Control139.

[0181] Referring now to FIG. 14 to FIG. 20, a description will be madeof another embodiment of the present invention.

[0182] A simulation rider transporting apparatus whose entire portion isindicated by reference numeral 1 is equipped with a rider base 144corresponding to a first base for mounting a seat 142. The seat 142constrains a rider “H” by way of a seat belt and the like.

[0183] The rider base 144 is supported via an elevation actuator 410 bya base 146 which constitutes a second base.

[0184] The base 146 is supported via a wheel and the like with respectto a rail (not shown), and the transport of this base 146 is controlledalong a direction indicated by an arrow.

[0185] The base 146 supports the rider base 144 via an actuator 1410corresponding to 3 sets of elevating means.

[0186]FIG. 15 represents attitudes of 3 sets of elevation actuators 1410arranged on the base 146. A first elevation actuator 1410 a is arrangedat a forward position of a front seat, whereas a second elevationactuator 1410b and a third elevation actuator 1410 c are arranged onboth sides of a rear portion of the base 146.

[0187] As represented in FIG. 16 to FIG. 19, the elevation actuator 1410is equipped with two cranks positioned opposite to each other, and issupported by a bracket 100 fixed on the base 146.

[0188] The bracket 100 supports a motor 110, and two crank arms 102 and104 in a swingable manner. These two crank arms 102 and 104 are drivenvia a reduction apparatus 120.

[0189] In other words, a power shaft of the motor 110 is coupled to thefirst crank arm 102, and the housing side of the motor 110 is coupled tothe second crank arm 104. A relative angle “∝” defined by the firstcrank arm 102 and the second crank arm 104 can be controlled bycontrolling the motor. In this case, the entire portion of the two crankarms 102 and 104 containing the motor 110 is supported in a swingablemanner around an axis “C₁” with respect to the bracket 100.

[0190] One end portion of a crank rid 140 is rotatably coupled to eachof tip portions of the two crank arms 102 and 104, and the other endportion of this crank rod 140 is coupled to a trunnion-shaped elevationmember 150.

[0191] The elevation member 150 is coupled via a bracket 180 to therider base 144.

[0192] In FIG. 15, the first elevation actuator 1410 a is supportedaround the first axis C₁ in a swingable manner. As a consequence, thecrank arms 102, 104, the crank rod 140, and the elevation bracket 180are moved within a first plane P₁ which is located perpendicular to thefirst axis C₁.

[0193] The second elevation actuator 1410 b is arranged in such a mannerthat an axis “C₂” thereof intersects the swing shaft of the firstelevation actuator 1410 a.

[0194] The third elevation actuator 1410 c is arranged in such a mannerthat an axis “C₃” thereof intersects the swing shaft C₁ of the firstelevation actuator 1410 a. These 3 elevation actuators are arranged onthe plane in such a manner that three planes P₁, P₂, P₃ where the crankarm, the crank rod, and the elevation bracket are moved may intersect asingle point “∝”.

[0195]FIG. 19 and FIG. 20 are explanatory diagrams for showingsupporting structures of the elevation bracket 180.

[0196] A node 130 provided at a tip portion of the crank arm 102 owns ashaft 132 pivotally supported by a bearing 134. The shaft 132 pivotallysupports a lower end portions of the crank rod 140.

[0197] A bracket 142 is fixed on the upper edge portion of the crank rod140. The bracket 142 supports both end portions of the trunnion rod 150by the shaft 144 which is rotatably supported by the bearing 140 aroundan axis C₁₁. A housing 160 is rotatably supported via a bearing 162around an axis C₁₂ at a center portion of the trunnion rod 150. Thishousing 160 supports a shaft 170 via a bearing 172 around an axis C₁₃,and an elevation bracket 180 is fixed with respect to the shaft 170.

[0198] The elevation bracket 180 supports the rider base 144. As aconsequence, the elevation bracket 180 is supported with having a freedegree along the three-dimensional direction with respect to the crankrod.

[0199] Since this apparatus is equipped with the above-describedstructures, the elevation amounts and also the elevation speeds of 3sets of elevation actuators 1410 a, 1410 b, and 1410 c are varied. As aresult, the rider base 144 can achieve the pitch motion, the rollmotion, and upper/lower motion. In addition to this motion, the base 146is moved along the forward/backward direction, so that 4 sorts of motioncan be achieved. Since these four sorts of motion are combined with eachother, the rider H can have simulation experiences.

[0200] When the rider base 144 is elevated along the upper/lowerdirections, one arm of the two crank arms 102 and 104 receives forcederived from the rotation shaft of the motor 110, and the other armthereof receives force derived from the main body portion of the motor110. As a result, only one set of the motor may be sufficiently used.Then, since torque of the motor 110 does not give effects to any membersother than these two crank arms 102 and 104.

[0201] It should be noted that one set of the motor is used in theabove-explained embodiment as the non-constraining means for changingthe angle defined between the two cranks to hold the changed angle.Alternatively, an oil pressure apparatus may be used. Also, theelevation means are arranged along the right-hand, left-hand, andforward directions with respect to the rider base. Alternatively, theseelevation means may be used at more than 3 positions. Furthermore, theforward/backward transporting means may not be employed. In thisalternative case, the base may constitute the second base.

[0202] Since the simulation rider transporting apparatus according tothis embodiment is equipped with the above-described structures and neednot uses a cylinder type rod, the height of the simulation ridertransporting apparatus can be largely suppressed, and further, the largeoperation stroke can be realized. Then, when the simulation ridertransporting apparatus is installed in facilities, this simulation ridertransporting apparatus can be readily installed at the existing placewithout newly digging a bit, and also without newly construct abuilding.

[0203] The above-described embodiment is related to the simulation ridertransporting apparatus equipped with the seat 142, the rider H, the base146, and the elevation actuator 146, and the elevation actuator 1410.Alternatively, while the base 146 is used as a forward/backwardtransport base, both the forward/backward transport actuator and thebase may be provided under this forward/backward base. In thisalternative case, although the height of the simulation ridertransporting apparatus becomes high, the forward/backward transport basemay be transported along the forward/backward direction by way of theforward/backward actuator, and the rider base 144 can be quicklytransported along the forward/backward direction. While the elevationactuator is bent along the horizontal direction, is coupled to the base,and also the rod is rotatably coupled to the forward/backward base, theforward/backward transport base can be transported along theforward/backward direction.

[0204] While the embodiment according to the present invention have beendescribed above, the motion base control apparatus as indicated in FIG.1 through FIG. 7 corresponds to such a correction means capable ofexecuting the very fine correcting operation for executing the temporalcorrection every frame in the correction by the temporal aspect, andsuch a correction means which becomes effective in the frame correctionwhen the synchronization is largely shifted, or deviated.

[0205] Also, in accordance with the embodiment indicated from FIG. 8 toFIG. 13, since the motion base operation data can be produced from theCG data, even in such an interactive system that the operation patterncannot be previously predicted, the motion base operation data can beproduced, and the application range of the motion base can be widened.

[0206] Furthermore, in accordance with the embodiment shown in FIG. 14to FIG. 20, it is possible to obtain the simulation rider transportingapparatus, the height of which can be suppressed to a low height.

1. A motion base control apparatus comprising a picture apparatus forprojecting a picture on a screen; and control means for sequentiallyexecuting motion base operation data constructed of picture data and forcontrolling motion of a motion base operated in connection with thepicture, the control means for controlling the motion of the motion baseincludes correction means for operation the motion base in synchronismwith the picture data of the picture apparatus.
 2. A motion base controlapparatus as claimed in claim 1 wherein: the correction means foroperating the motion base includes: means for receiving a frame No. of apicture (picture frame No.) presently projected from the pictureapparatus; means for detecting a frame No. of operation data of apresently executed motion base (motion base frame No.); means forcomparing the picture frame No. with the motion frame No. to calculate adifference value thereof; means for calculating an operation velocity ofthe motion base based on the difference value so as to correct saiddifference value; and means for moving the motion base at the calculatedvelocity to reduce the difference value between the picture frame No.and the motion frame No., whereby a synchronization operation with thepicture can be carried out.
 3. A motion base control apparatus asclaimed in claim 1 wherein: the correction means for operating themotion base includes: means for receiving a frame No. of a picture(picture frame No.) presently projected from the picture apparatus;means for detecting a frame No. of operation data of a presentlyexecuted motion base (motion base frame No.); means for comparing thepicture frame No. with the motion frame No. to calculate a differencevalue thereof; and means for changing the motion frame No. into thepicture frame No. when the difference value is present in order toreduce the difference value, whereby the synchronization operation withthe picture can be carried out.
 4. A VR motion producing apparatuscomprising motion model converting means for converting a motion modelof an object to be controlled which is moved within a virtual realityspace constituted by computer graphics into another motion model of amotion base having a finite stroke, said object to be controlled is adynamic object; and said motion model converting means converts themotion model of said dynamic object to be controlled into the motionmodel of the motion base having the finite stroke.
 5. A VR motionproducing apparatus as claimed in claim 4 wherein: said motion modelconverting means converts coordinate data of the motion model of thedynamic object to be controlled into coordinate data of the motion modelof the motion base.
 6. A VR motion producing apparatus as claimed inclaim 4 , or claim 5 wherein: said motion model converting means isconversion means for converting in a real time.
 7. A VR motion producingapparatus as claimed in claim 4 wherein: said VR motion producingapparatus is used in a simulation ride system corresponding to aninteractive system.
 8. A VR motion producing apparatus as claimed inclaim 4 wherein: said VR motion producing apparatus is comprised of:means for extracting coordinate data used to draw the motion model ofsaid dynamic object to be controlled; means for calculating a velocitychange of the dynamic object to be controlled within the VR space fromthe extracted coordinate data; and means for calculating an attitudechange of the dynamic object to be controlled every time instant.
 9. AVR motion producing apparatus as claimed in claim 4 wherein: said VRmotion producing apparatus is comprised of: means for resolving thecalculated velocity change into the respective axial components of anobject coordinate system fixed to a dynamic model to be controlled so asto calculate a velocity change amount of each of the axes of the objectcoordinate system; and means for scaling the calculated velocity changeamount to convert the scaled velocity change amount into a motion amountwithin a finite stroke of a motion base which is actually operated. 10.A VR motion producing apparatus as claimed in claim 8 , or claim 9wherein: said VR motion producing apparatus is comprised of: means forconverting the calculated attitude change of the dynamic object to becontrolled into a rotation amount of each of the axes of the objectcoordinate system fixed to the dynamic object to be controlled; andmeans for scaling the converted rotation amount to convert the scaledrotation amount into a motion amount within a finite stoke of a motionbase which is actually operated.
 11. A VR motion producing apparatus asclaimed in claim 4 wherein: said VR motion producing apparatus iscomprised of: means for cutting a frequency component of data at adesignated frequency with respect to operation data of the motion basecalculated by said operation model connecting means; and means capableof producing motion data of a motion base, taking account of amechanical mechanism of a motion base.
 12. A simulation ridertransporting apparatus comprising: means for constraining an attitude ofa rider and a position thereof such as a seat and an arm; a first basefor riding thereon both the rider and said containing means; a secondbase arranged under said first base; and elevation means for elevatingsaid first base, wherein: said elevation means owns two cranks which arearranged opposite to each other between said first base and said secondbase; said two cranks own crank arms whose one edge is coupled to saidsecond base, and a crank rod for coupling the other edge of the crankarm to said first base; and said simulation rider transporting apparatusis comprised of drive means for changing a relative angle between saidtwo crank arms into a predetermined value, and for holding said changedrelative angle.
 13. A simulation rider transporting apparatus as claimedin claim 12 wherein: coupling means having a rotation free degree alongthree axial directions is arranged between said crank rod and said firstbase.
 14. A simulation rider transporting apparatus as claimed in claim12 wherein: said drive means is a single motor.
 15. A simulation ridertransporting apparatus as claimed in any one of claims 12 to 14 wherein:said simulation rider transporting apparatus is comprised of: means fordriving said second base along forward/backward directions.
 16. Asimulation rider transporting apparatus as claimed in claim 12 wherein:said elevation means owns a rotation free degree with respect to oneaxial direction which intersects at a right angle a plane where thecranks are moved; and three sets of said elevation means are arranged onfront center-portion and both side of rear portions concerned with thesecond base, and the three elevation means are disposed so that movingsurfaces of each crank intersects at one point.
 17. A simulation ridertransporting apparatus as claimed in claim 16 wherein: said 3 sets ofelevation means are arranged in a direction along which planes where therespective cranks are moved are intersected at one point.